Parameter Identification and Nonparametric Calibration of the Tri-Pyramid Robot

Liao, Shuheng; Zeng, Qiang; Ehmann, Kornel F.; Cao, Jian

doi:10.1109/tmech.2020.3001021

Cited by 24 publications

(11 citation statements)

References 18 publications

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“…Liao et al [65] predicted the end-effector positions of a 3-DOF overconstrained parallel robot (named Tri-Pyramid Robot). The final positions were calculated by combining a parametric and a non-parametric calibration method.…”

Section: B Machine Learnng-based Methodsmentioning

confidence: 99%

“…Online optimization of process parameters using AI algorithms are crucial to improve the quality and efficiency of industrial processes in real time. For example, Liao et al [13] developed a systematic approach to identify the structural parameters in the geometrybased kinematic model and to predict the non-geometric errors like backlash and link deformations for calibrating the Tripyramid robot. It turns out that robot accuracy can be improved by 60% with the proposed method, which is accurate enough in forming applications.…”

Section: A Key Technologies Of Iaimentioning

confidence: 99%

See 1 more Smart Citation

State of AI-Based Monitoring in Smart Manufacturing and Introduction to Focused Section

Ding

Gao

Isaksson

et al. 2020

IEEE/ASME Trans. Mechatron.

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Section: B Machine Learnng-based Methodsmentioning

confidence: 99%

Section: A Key Technologies Of Iaimentioning

confidence: 99%

State of AI-Based Monitoring in Smart Manufacturing and Introduction to Focused Section

Ding

Gao

Isaksson

et al. 2020

IEEE/ASME Trans. Mechatron.

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“…• The Pantopteron-4 (3T1R) using three pantograph linkages and Schönflies motions enabling faster displacement than Isoglide4 or the Quadrupteron [24]. • The Tri-pyramid robot with the triangular pyramidal constraint [25], [26]. • The decoupled pantograph manipulator with three translational degrees of freedom which belongs to a recently introduced family of industrial robots named interconnected manipulators [27], [28].…”

Section: Introductionmentioning

confidence: 99%

Development of a Balanced 3D Translational Interconnected Manipulator With Solely Rotary Joints/Actuators and Free-Internal-Singularity Workspace

Sameh¹,

Fanni

Parque

et al. 2021

IEEE Access

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A new interconnected translational manipulator is proposed. It is the only interconnected manipulator that makes such motion using revolute joints and three rotary actuators. Rotary joints and actuators are favored practically than their linear counterparts due to their lower price, lower size of installation and higher reliability. The configuration of the proposed manipulator allows it to maintain, to a large extent, the combined merits of serial and parallel manipulators. In contrast to all other existing interconnected manipulators, the proposed manipulator has free-internal-singularity workspace. Using a practical proposed methodology, a balancing system is developed that reduces dramatically the power consumption and facilitates using small-sized-motors. The mobility analysis is carried out using a newly developed methodology suitable for interconnected manipulators. Closed forms for position and velocity kinematics as well as for maximum cuboid workspace are derived. The developed mechanical design is validated by finite element analysis. The controller performance is tested using ADAMS ® & MATLAB ® /Simulink co-simulation. The results indicate the feasibility of the proposed manipulator and its advantages over existing translational manipulators from engineering as well as economic viewpoints.

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“…The highlighted measuring tools are coordinate measuring machines, laser trackers, laser interferometers and double ball bars. A combined parametric and non-parametric calibration approach for a PKM is presented in Liao et al (2020), using a laser tracker. After the calibration of the kinematic model, non-geometric errorsoriginating from joint and link deformation as well as backlashare compensated using an artificial neural network.…”

Section: Introductionmentioning

confidence: 99%

A novel, low-cost technique for modelless calibration of a 3-axis parallel kinematic machine

Tipary

Erdős

2021

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Purpose The purpose of this paper is to propose a novel measurement technique and a modelless calibration method for improving the positioning accuracy of a three-axis parallel kinematic machine (PKM). The aim is to present a low-cost calibration alternative, for small and medium-sized enterprises, as well as educational and research teams, with no expensive measuring devices at their disposal. Design/methodology/approach Using a chessboard pattern on a ground-truth plane, a digital indicator, a two-dimensional eye-in-hand camera and a laser pointer, positioning errors are explored in the machine workspace. With the help of these measurements, interpolation functions are set up per direction, resulting in an interpolation vector function to compensate the volumetric errors in the workspace. Findings Based on the proof-of-concept system for the linear-delta PKM, it is shown that using the proposed measurement technique and modelless calibration method, positioning accuracy is significantly improved using simple setups. Originality/value In the proposed method, a combination of low-cost devices is applied to improve the three-dimensional positioning accuracy of a PKM. By using the presented tools, the parametric kinematic model is not required; furthermore, the calibration setup is simple, there is no need for hand–eye calibration and special fixturing in the machine workspace.

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Parameter Identification and Nonparametric Calibration of the Tri-Pyramid Robot

Cited by 24 publications

References 18 publications

State of AI-Based Monitoring in Smart Manufacturing and Introduction to Focused Section

State of AI-Based Monitoring in Smart Manufacturing and Introduction to Focused Section

Development of a Balanced 3D Translational Interconnected Manipulator With Solely Rotary Joints/Actuators and Free-Internal-Singularity Workspace

A novel, low-cost technique for modelless calibration of a 3-axis parallel kinematic machine

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